cmake_minimum_required(VERSION 2.8.3)
project(semol)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS 
             cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs 
             image_transport tf utilite turtlesim
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system signals)

find_package(Semol REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   ActuatorMsg.msg
   CvMatMsg.msg
   Info.msg
   InfoEx.msg
   Sensorimotor.msg
   SensorMsg.msg
)

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs 
                 image_transport tf utilite turtlesim
  DEPENDS Semol
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${Semol_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

add_executable(semol src/CoreNode.cpp src/CoreWrapper.cpp)
add_dependencies(semol semol_generate_messages_cpp)
target_link_libraries(semol ${catkin_LIBRARIES} ${Semol_LIBRARIES})

add_executable(semol_out src/OutputNode.cpp)
add_dependencies(semol_out semol_generate_messages_cpp)
target_link_libraries(semol_out ${catkin_LIBRARIES})

add_executable(abtr_velocity src/AbtrVelocityNode.cpp)
add_dependencies(abtr_velocity semol_generate_messages_cpp)
target_link_libraries(abtr_velocity ${catkin_LIBRARIES})

add_executable(twist_to_pose src/Twist2Pose.cpp)
add_dependencies(twist_to_pose semol_generate_messages_cpp)
target_link_libraries(twist_to_pose ${catkin_LIBRARIES})

add_executable(twist_to_twist_stamped src/Twist2TwistStamped.cpp)
add_dependencies(twist_to_twist_stamped semol_generate_messages_cpp)
target_link_libraries(twist_to_twist_stamped ${catkin_LIBRARIES})

# Input nodes
add_executable(input_image_audio_node src/InputImageAudioNode.cpp)
add_dependencies(input_image_audio_node semol_generate_messages_cpp)
target_link_libraries(input_image_audio_node ${catkin_LIBRARIES})

add_executable(input_image_audio_twist_node src/InputImageAudioTwistNode.cpp)
add_dependencies(input_image_audio_twist_node semol_generate_messages_cpp)
target_link_libraries(input_image_audio_twist_node ${catkin_LIBRARIES})

add_executable(input_image_twist_node src/InputImageTwistNode.cpp)
add_dependencies(input_image_twist_node semol_generate_messages_cpp)
target_link_libraries(input_image_twist_node ${catkin_LIBRARIES})

add_executable(input_audio_node src/InputAudioNode.cpp)
add_dependencies(input_audio_node semol_generate_messages_cpp)
target_link_libraries(input_audio_node ${catkin_LIBRARIES})

FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui)
INCLUDE(${QT_USE_FILE})
add_executable(semol_gui src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
target_link_libraries(semol_gui ${QT_LIBRARIES} ${catkin_LIBRARIES} ${Semol_LIBRARIES})

add_executable(visual_attention src/VisualAttentionNode.cpp)
target_link_libraries(visual_attention ${QT_LIBRARIES} ${catkin_LIBRARIES})


#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS rtabmap rtabmap_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_rtabmap.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
